sonar log format More...

sonar log format

The following type:subtype sonar messages can be logged:

• 1:1 (PLAYER_SONAR_DATA_RANGES) Range data. The format is:
  • range_count (int): number range values to follow
  • list of readings; for each reading:
    • range (float): in meters
• 1:2 (PLAYER_SONAR_DATA_GEOM) Geometry data. The format is:
  • pose_count (int): number of sonar poses to follow
  • list of tranducer poses; for each pose:
    • x (float): relative X position of transducer, in meters
    • y (float): relative Y position of transducer, in meters
    • a (float): relative yaw orientation of transducer, in radians
• 4:1 (PLAYER_SONAR_REQ_GET_GEOM) Geometry info. The format is:
  • pose_count (int): number of sonar poses to follow
  • list of tranducer poses; for each pose:
    • x (float): relative X position of transducer, in meters
    • y (float): relative Y position of transducer, in meters
    • a (float): relative yaw orientation of transducer, in radians